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oneMotorGuiFBCamera.py
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oneMotorGuiFBCamera.py
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on 10 December 2023
@author: Julien Gautier (LOA)
last modified 2024/02/05
"""
from PyQt6 import QtCore
from PyQt6.QtWidgets import QApplication
from PyQt6.QtWidgets import QWidget, QMessageBox, QLineEdit, QToolButton
from PyQt6.QtWidgets import QVBoxLayout, QHBoxLayout, QPushButton, QGridLayout, QDoubleSpinBox, QCheckBox
from PyQt6.QtWidgets import QComboBox, QLabel
from PyQt6.QtGui import QIcon
from PyQt6.QtCore import QRect
import sys
import time
import os
import qdarkstyle
import pathlib
import moteurRSAIFDB
import __init__
from scanMotorCamera import SCAN
__version__=__init__.__version__
class ONEMOTORGUI(QWidget) :
"""
User interface Motor class :
ONEMOTOGUI(IpAddress, NoMotor,nomWin,showRef,unit,jogValue )
IpAddress : Ip adress of the RSAI RACK
NoMoro : Axis number
optional :
nomWin Name of the windows
ShowRef = True see the reference windows
unit : 0: step 1: um 2: mm 3: ps 4: °
jogValue : Value in unit of the jog
database is update when closing
"""
def __init__(self, IpAdress, NoMotor, nomWin='', showRef=False, unit=1, jogValue=100, parent=None):
super(ONEMOTORGUI, self).__init__()
self.parent=parent
p = pathlib.Path(__file__)
sepa = os.sep
self.icon = str(p.parent) + sepa + 'icons' +sepa
self.isWinOpen = False
self.nomWin = nomWin
self.refShowId = showRef
self.indexUnit = unit
self.jogValue = jogValue
self.etat='ok'
#self.tir=TirGui.TIRGUI()
self.IpAdress = IpAdress
self.NoMotor = NoMotor
self.MOT=[0]
self.setStyleSheet(qdarkstyle.load_stylesheet(qt_api='pyqt6'))
self.setWindowIcon(QIcon(self.icon+'LOA.png'))
self.iconPlay = self.icon+"playGreen.PNG"
self.iconPlay = pathlib.Path(self.iconPlay)
self.iconPlay = pathlib.PurePosixPath(self.iconPlay)
self.iconMoins = self.icon+"moinsBleu.PNG"
self.iconMoins = pathlib.Path(self.iconMoins)
self.iconMoins = pathlib.PurePosixPath(self.iconMoins)
self.iconPlus = self.icon+"plusBleu.PNG"
self.iconPlus = pathlib.Path(self.iconPlus)
self.iconPlus = pathlib.PurePosixPath(self.iconPlus)
self.iconStop = self.icon+"close.PNG"
self.iconStop = pathlib.Path(self.iconStop)
self.iconStop = pathlib.PurePosixPath(self.iconStop)
self.iconUpdate = self.icon +"recycle.PNG"
self.iconUpdate = pathlib.Path(self.iconUpdate)
self.iconUpdate = pathlib.PurePosixPath(self.iconUpdate)
self.MOT[0]=moteurRSAIFDB.MOTORRSAI(self.IpAdress,self.NoMotor)
self.scanWidget=SCAN(MOT=self.MOT[0],parent=self) # for the scan
self.stepmotor = [0,0,0]
self.butePos = [0,0,0]
self.buteNeg = [0,0,0]
self.name = [0,0,0]
for zzi in range(0,1):
self.stepmotor[zzi] = float(1/(self.MOT[0].getStepValue())) # list of stepmotor values for unit conversion
self.butePos[zzi] = float(self.MOT[0].getButLogPlusValue()) # list
self.buteNeg[zzi] = float(self.MOT[0].getButLogMoinsValue())
self.name[zzi] = str(self.MOT[0].getName())
## initialisation of the jog value
if self.indexUnit == 0: # step
self.unitChange = 1
self.unitName = 'step'
if self.indexUnit == 1: # micron
self.unitChange = float((1*self.stepmotor[0]))
self.unitName = 'um'
if self.indexUnit == 2: # mm
self.unitChange = float((1000*self.stepmotor[0]))
self.unitName = 'mm'
if self.indexUnit == 3: # ps double passage : 1 microns=6fs
self.unitChange = float(1*self.stepmotor[0]/0.0066666666)
self.unitName = 'ps'
if self.indexUnit == 4: # en degres
self.unitChange = 1 *self.stepmotor[0]
self.unitName = '°'
self.thread = PositionThread(self,mot=self.MOT[0]) # thread for displaying position
self.thread.POS.connect(self.Position)
#self.thread.ETAT.connect(self.Etat)
self.setup()
self.update()
self.unit()
self.jogStep.setValue(self.jogValue)
self.actionButton()
def update(self):
# update from the data base (RSAIdb To python soft)
self.MOT[0].update()
# to avoid to access to the database
for zzi in range(0,1):
self.stepmotor[zzi] = float(1/(self.MOT[0].step)) # list of stepmotor values for unit conversion
self.butePos[zzi] = float(self.MOT[0].butPlus) # list
self.buteNeg[zzi] = float(self.MOT[0].butMoins)
self.name[zzi] = str(self.MOT[0].name)
## initialisation of the jog value
self.setWindowTitle(self.nomWin + str(self.MOT[0].getEquipementName()) + ' ('+ str(self.IpAdress)+ ') '+ ' [M'+ str(self.NoMotor) + '] ' + self.name[0] )
self.nom.setText(self.name[0])
self.refValue = self.MOT[0].refValue
self.refName = self.MOT[0].refName
iii=0
for saveNameButton in self.posText: # reference name
saveNameButton.setText(self.refName[iii]) # print ref name
iii+=1
eee=0
for absButton in self.absRef:
absButton.setValue(float(self.refValue[eee]/self.unitChange)) # save reference value
eee+=1
def updateDB(self):
# update the Data base (python soft to RSAI dB)
i=1
for ref in self.refValue :
self.MOT[0].setRefValue(i,ref/self.stepmotor[0])
i+=1
i=1
for ref in self.refName :
self.MOT[0].setRefName(i,ref)
i+= 1
# self.MOT[0].update()
def startThread2(self):
# start position and state thread
self.thread.ThreadINIT()
self.thread.start()
time.sleep(0.1)
def setup(self):
vbox1 = QVBoxLayout()
hboxTitre = QHBoxLayout()
self.nom = QLabel(self.name[0])
self.nom.setStyleSheet("font: bold 20pt;color:yellow")
hboxTitre.addWidget(self.nom)
self.enPosition = QLineEdit()
#self.enPosition.setMaximumWidth(50)
self.enPosition.setStyleSheet("font: bold 15pt")
self.enPosition.setAlignment(QtCore.Qt.AlignmentFlag.AlignHCenter | QtCore.Qt.AlignmentFlag.AlignVCenter)
hboxTitre.addWidget(self.enPosition)
self.butNegButt = QCheckBox('Log FDC-',self)
hboxTitre.addWidget(self.butNegButt)
self.butPosButt = QCheckBox('Log FDC+',self)
hboxTitre.addWidget(self.butPosButt)
vbox1.addLayout(hboxTitre)
hShoot = QHBoxLayout()
self.shootCibleButton = QPushButton('Shot')
self.shootCibleButton.setStyleSheet("font: 12pt;background-color: red")
self.shootCibleButton.setMaximumWidth(100)
self.shootCibleButton.setMinimumWidth(100)
hShoot.addWidget(self.shootCibleButton)
self.updateButton = QToolButton()
self.updateButton.setToolTip( "update from DB")
self.updateButton.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconUpdate,self.iconUpdate))
hShoot.addWidget(self.updateButton)
vbox1.addLayout(hShoot)
hbox0 = QHBoxLayout()
self.position = QLabel('1234567')
self.position.setMaximumWidth(300)
self.position.setStyleSheet("font: bold 40pt" )
self.unitBouton = QComboBox()
self.unitBouton.addItem('Step')
self.unitBouton.addItem('um')
self.unitBouton.addItem('mm')
self.unitBouton.addItem('ps')
self.unitBouton.addItem('°')
self.unitBouton.setMaximumWidth(100)
self.unitBouton.setMinimumWidth(100)
self.unitBouton.setStyleSheet("font: bold 12pt")
self.unitBouton.setCurrentIndex(self.indexUnit)
self.zeroButton = QPushButton('Zero')
self.zeroButton.setToolTip('set origin')
self.zeroButton.setMaximumWidth(50)
hbox0.addWidget(self.position)
hbox0.addWidget(self.unitBouton)
hbox0.addWidget(self.zeroButton)
vbox1.addLayout(hbox0)
#vbox1.addSpacing(10)
hboxAbs=QHBoxLayout()
absolueLabel = QLabel('Absolue mouvement')
# absolueLabel.setStyleSheet("background-color: green")
self.MoveStep = QDoubleSpinBox()
self.MoveStep.setMaximum(1000000)
self.MoveStep.setMinimum(-1000000)
#self.MoveStep.setStyleSheet("background-color: green")
self.absMvtButton = QToolButton()
self.absMvtButton.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconPlay,self.iconPlay))
self.absMvtButton.setMinimumHeight(50)
self.absMvtButton.setMaximumHeight(50)
self.absMvtButton.setMinimumWidth(50)
self.absMvtButton.setMaximumWidth(50)
#self.absMvtButton.setStyleSheet("background-color: green")
hboxAbs.addWidget(absolueLabel)
hboxAbs.addWidget(self.MoveStep)
hboxAbs.addWidget(self.absMvtButton)
vbox1.addLayout(hboxAbs)
vbox1.addSpacing(10)
hbox1 = QHBoxLayout()
self.moins = QToolButton()
self.moins.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconMoins,self.iconMoins))
self.moins.setMinimumHeight(70)
self.moins.setMaximumHeight(70)
self.moins.setMinimumWidth(70)
self.moins.setMaximumWidth(70)
#self.moins.setStyleSheet("border-radius:20px")
hbox1.addWidget(self.moins)
self.jogStep = QDoubleSpinBox()
self.jogStep.setMaximum(1000000)
self.jogStep.setMaximumWidth(130)
self.jogStep.setStyleSheet("font: bold 12pt")
self.jogStep.setValue(self.jogValue)
hbox1.addWidget(self.jogStep)
self.plus = QToolButton()
self.plus.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconPlus,self.iconPlus))
self.plus.setMinimumHeight(70)
self.plus.setMaximumHeight(70)
self.plus.setMinimumWidth(70)
self.plus.setMaximumWidth(70)
#self.plus.setStyleSheet("border-radius:20px")
hbox1.addWidget(self.plus)
vbox1.addLayout(hbox1)
#vbox1.addStretch(10)
vbox1.addSpacing(10)
hbox2 = QHBoxLayout()
self.stopButton = QToolButton()
self.stopButton.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconStop,self.iconStop))
#self.stopButton.setStyleSheet("border-radius:20px;background-color: red")
self.stopButton.setMaximumHeight(70)
self.stopButton.setMaximumWidth(70)
self.stopButton.setMinimumHeight(70)
self.stopButton.setMinimumWidth(70)
hbox2.addWidget(self.stopButton)
vbox2 = QVBoxLayout()
self.showRef = QPushButton('Show Ref')
self.showRef.setMaximumWidth(90)
vbox2.addWidget(self.showRef)
self.scan = QPushButton('Scan')
self.scan.setMaximumWidth(90)
vbox2.addWidget(self.scan)
hbox2.addLayout(vbox2)
vbox1.addLayout(hbox2)
vbox1.addSpacing(10)
self.REF1 = REF1M(num=1)
self.REF2 = REF1M(num=2)
self.REF3 = REF1M(num=3)
self.REF4 = REF1M(num=4)
self.REF5 = REF1M(num=5)
self.REF6 = REF1M(num=6)
grid_layoutRef = QGridLayout()
grid_layoutRef.setVerticalSpacing(4)
grid_layoutRef.setHorizontalSpacing(4)
grid_layoutRef.addWidget(self.REF1,0,0)
grid_layoutRef.addWidget(self.REF2,0,1)
grid_layoutRef.addWidget(self.REF3,1,0)
grid_layoutRef.addWidget(self.REF4,1,1)
grid_layoutRef.addWidget(self.REF5,2,0)
grid_layoutRef.addWidget(self.REF6,2,1)
self.widget6REF = QWidget()
self.widget6REF.setLayout(grid_layoutRef)
vbox1.addWidget(self.widget6REF)
self.setLayout(vbox1)
self.absRef = [self.REF1.ABSref,self.REF2.ABSref,self.REF3.ABSref,self.REF4.ABSref,self.REF5.ABSref,self.REF6.ABSref]
self.posText = [self.REF1.posText,self.REF2.posText,self.REF3.posText,self.REF4.posText,self.REF5.posText,self.REF6.posText]
self.POS = [self.REF1.Pos,self.REF2.Pos,self.REF3.Pos,self.REF4.Pos,self.REF5.Pos,self.REF6.Pos]
self.Take = [self.REF1.take,self.REF2.take,self.REF3.take,self.REF4.take,self.REF5.take,self.REF6.take]
self.jogStep.setFocus()
self.refShow()
def actionButton(self):
'''
buttons action setup
'''
self.unitBouton.currentIndexChanged.connect(self.unit) # unit change
self.absMvtButton.clicked.connect(self.MOVE)
self.plus.clicked.connect(self.pMove) # jog + foc
self.plus.setAutoRepeat(True)
self.moins.clicked.connect(self.mMove)# jog - foc
self.moins.setAutoRepeat(True)
self.scan.clicked.connect(lambda:self.open_widget(self.scanWidget) )
self.zeroButton.clicked.connect(self.Zero) # reset display to 0
#self.refZeroButton.clicked.connect(self.RefMark) # todo
self.stopButton.clicked.connect(self.StopMot)#stop motors
self.showRef.clicked.connect(self.refShow) # show references widgets
self.shootCibleButton.clicked.connect(self.ShootAct)
iii = 0
for saveNameButton in self.posText: # reference name
saveNameButton.textChanged.connect(self.savName)
saveNameButton.setText(self.refName[iii]) # print ref name
iii+=1
for posButton in self.POS: # button GO
posButton.clicked.connect(self.ref) # go to reference value
eee = 0
for absButton in self.absRef:
nbRef = str(eee)
absButton.setValue(float(self.refValue[eee]/self.unitChange)) # save reference value
absButton.editingFinished.connect(self.savRef) # sauv value
eee+=1
for takeButton in self.Take:
takeButton.clicked.connect(self.take) # take the value
self.updateButton.clicked.connect(self.update)
def open_widget(self,fene):
""" open new widget
"""
if fene.isWinOpen is False:
#New widget"
fene.show()
fene.isWinOpen=True
else:
#fene.activateWindow()
fene.raise_()
fene.showNormal()
def refShow(self):
if self.refShowId is True:
#self.resize(368, 345)
self.widget6REF.show()
self.refShowId = False
self.showRef.setText('Hide Ref')
self.setFixedSize(430,800)
else:
#print(self.geometry()
self.widget6REF.hide()
self.refShowId = True
self.showRef.setText('Show Ref')
self.setFixedSize(430,380)
def MOVE(self):
'''
absolue mouvment
'''
a = float(self.MoveStep.value())
a = float(a*self.unitChange) # changement d unite
if a < self.buteNeg[0] :
print( "STOP : Butée Négative")
self.butNegButt.setChecked(True)
self.MOT[0].stopMotor()
elif a > self.butePos[0] :
print( "STOP : Butée Positive")
self.butPosButt.setChecked(True)
self.MOT[0].stopMotor()
else :
self.MOT[0].move(a)
self.butNegButt.setChecked(False)
self.butPosButt.setChecked(False)
def pMove(self):
'''
action jog + foc
'''
a=float(self.jogStep.value())
a=float(a*self.unitChange)
b=self.MOT[0].position()
if b + a> self.butePos[0] :
print( "STOP : Positive switch")
self.MOT[0].stopMotor()
self.butPosButt.setChecked(True)
else :
self.MOT[0].rmove(a)
self.butNegButt.setChecked(False)
self.butPosButt.setChecked(False)
def mMove(self):
'''
action jog - foc
'''
a = float(self.jogStep.value())
a = float(a*self.unitChange)
b = self.MOT[0].position()
if b - a <self.buteNeg[0] :
print( "STOP : negative switch")
self.MOT[0].stopMotor()
self.butNegButt.setChecked(True)
else :
self.MOT[0].rmove(-a)
self.butNegButt.setChecked(False)
self.butPosButt.setChecked(False)
def Zero(self): # zero
self.MOT[0].setzero()
def RefMark(self): #
"""
todo ....
"""
#self.motorType.refMark(self.motor)
def unit(self):
'''
unit change mot foc
'''
self.indexUnit = self.unitBouton.currentIndex()
valueJog = self.jogStep.value()*self.unitChange
if self.indexUnit == 0: # step
self.unitChange = 1
self.unitName = 'step'
if self.indexUnit == 1: # micron
self.unitChange = float((1*self.stepmotor[0]))
self.unitName = 'um'
if self.indexUnit == 2: # mm
self.unitChange = float((1000*self.stepmotor[0]))
self.unitName = 'mm'
if self.indexUnit == 3: # ps double passage : 1 microns=6fs
self.unitChange = float(1*self.stepmotor[0]/0.0066666666)
self.unitName = 'ps'
if self.indexUnit == 4: # en degres
self.unitChange = 1 *self.stepmotor[0]
self.unitName = '°'
if self.unitChange == 0:
self.unitChange = 1 #avoid /0
self.jogStep.setSuffix(" %s" % self.unitName)
self.jogStep.setValue(valueJog/self.unitChange)
self.MoveStep.setSuffix(" %s" % self.unitName)
eee=0
for absButton in self.absRef: # change the value of reference
nbRef = eee
absButton.setValue(float(self.refValue[nbRef])/self.unitChange)
absButton.setSuffix(" %s" % self.unitName)
eee+=1
def StopMot(self):
'''
stop all motors
'''
self.REF1.show()
for zzi in range(0,1):
self.MOT[zzi].stopMotor();
def Position(self,Posi):
'''
Position display read from the second thread
'''
Pos = Posi[0]
self.etat = str(Posi[1])
a = float(Pos)
b = a # value in step
a = a/self.unitChange # value with unit changed
#print(a,self.etat)
if self.etat == 'FDC-':
self.enPosition.setText('FDC -')
self.enPosition.setStyleSheet('font: bold 28pt;color:red')
elif self.etat == 'FDC+':
self.enPosition.setText('FDC +')
self.enPosition.setStyleSheet('font: bold 28pt;color:red')
elif self.etat == 'Power off' :
self.enPosition.setText('Power Off')
self.enPosition.setStyleSheet('font: bold 14pt;color:red')
elif self.etat == 'mvt' :
self.enPosition.setText('Mvt...')
self.enPosition.setStyleSheet('font: bold 28pt;color:white')
# if moteurRSAIFDB.rEquipmentStatus(self.IpAdress) == -1 :
# self.enPosition.setText('Rack not connected')
# self.enPosition.setStyleSheet('font: bold 14pt;color:red')
self.position.setText(str(round(a,2)))
self.position.setStyleSheet('font: bold 40pt;color:white')
positionConnue = 0 #
precis = 5 # to show position name
if (self.etat == 'ok' or self.etat == '?'):
for nbRefInt in range(1,7):
if positionConnue == 0 :
if float(self.refValue[nbRefInt-1]) - precis <b < float(self.refValue[nbRefInt-1]) + precis: #self.MOT[0].getRefValue
self.enPosition.setText(str(self.refName[nbRefInt-1]))
positionConnue = 1
if positionConnue==0 and (self.etat == 'ok' or self.etat == '?'):
self.enPosition.setText(' ' )
def Etat(self,etat):
# return motor state
self.etat=etat
def take (self) :
'''
take and save the reference
'''
sender=QtCore.QObject.sender(self) # take the name of the button
nbRef=str(sender.objectName()[0])
reply=QMessageBox.question(None,'Save Position ?',"Do you want to save this position ?",QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No,QMessageBox.StandardButton.No)
if reply == QMessageBox.StandardButton.Yes:
tpos = float(self.MOT[0].position())
self.refValue[int(nbRef)-1] = tpos
self.absRef[int(nbRef)-1].setValue(tpos/self.unitChange)
print ("Position saved",tpos)
def ref(self):
'''
Move the motor to the reference value in step : GO button
'''
sender=QtCore.QObject.sender(self)
reply=QMessageBox.question(None,'Go to this Position ?',"Do you want to GO to this position ?",QMessageBox.StandardButton.Yes | QMessageBox.StandardButton.No,QMessageBox.StandardButton.No)
if reply == QMessageBox.StandardButton.Yes:
nbRef=str(sender.objectName()[0])
for i in range (0,1):
vref=int(self.refValue[int(nbRef)-1]) #
if vref<self.buteNeg[i] :
print( "STOP : negative switch")
self.butNegButt.setChecked(True)
self.MOT[i].stopMotor()
elif vref>self.butePos[i] :
print( "STOP : positive switch")
self.butPosButt.setChecked(True)
self.MOT[i].stopMotor()
else :
self.MOT[i].move(vref)
self.butNegButt.setChecked(False)
self.butPosButt.setChecked(False)
def savName(self) :
'''
Save reference name
'''
sender=QtCore.QObject.sender(self)
nbRef=sender.objectName()[0] #PosTExt1
vname=self.posText[int(nbRef)-1].text()
for i in range (0,1):
self.refName[int(nbRef)-1] = str(vname)
def savRef (self) :
'''
save reference value
'''
sender=QtCore.QObject.sender(self)
nbRef=sender.objectName()[0] # nom du button ABSref1
vref=int(self.absRef[int(nbRef)-1].value())*self.unitChange
self.refValue[int(nbRef)-1] = vref # on sauvegarde en step
def ShootAct(self):
try:
self.tir.TirAct()
except: pass
def closeEvent(self, event):
"""
When closing the window
"""
self.fini()
time.sleep(0.2)
event.accept()
def fini(self):
'''
at the end we close all the thread
'''
self.thread.stopThread()
self.isWinOpen=False
time.sleep(0.2)
self.updateDB()
if self.scanWidget.isWinOpen==True:
self.scanWidget.close()
#moteurRSAIFDB.closeConnection()
class REF1M(QWidget):
def __init__(self,num=0, parent=None):
super(REF1M, self).__init__()
self.setStyleSheet(qdarkstyle.load_stylesheet(qt_api='pyqt6'))
self.wid=QWidget()
self.id=num
self.vboxPos=QVBoxLayout()
p = pathlib.Path(__file__)
sepa=os.sep
self.icon=str(p.parent) + sepa + 'icons' +sepa
self.posText=QLineEdit('ref')
self.posText.setAlignment(QtCore.Qt.AlignmentFlag.AlignHCenter | QtCore.Qt.AlignmentFlag.AlignVCenter)
self.posText.setStyleSheet("font: bold 15pt")
self.posText.setObjectName('%s'%self.id)
# self.posText.setMaximumWidth(80)
self.vboxPos.addWidget(self.posText)
self.iconTake=self.icon+"disquette.PNG"
self.iconTake=pathlib.Path(self.iconTake)
self.iconTake=pathlib.PurePosixPath(self.iconTake)
self.take=QToolButton()
self.take.setObjectName('%s'%self.id)
self.take.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconTake,self.iconTake))
self.take.setMaximumWidth(30)
self.take.setMinimumWidth(30)
self.take.setMinimumHeight(30)
self.take.setMaximumHeight(30)
self.takeLayout=QHBoxLayout()
self.takeLayout.addWidget(self.take)
self.iconGo=self.icon+"go.PNG"
self.iconGo=pathlib.Path(self.iconGo)
self.iconGo=pathlib.PurePosixPath(self.iconGo)
self.Pos=QToolButton()
self.Pos.setStyleSheet("QToolButton:!pressed{border-image: url(%s);background-color: transparent ;border-color: gray;}""QToolButton:pressed{image: url(%s);background-color: gray ;border-color: gray}"%(self.iconGo,self.iconGo))
self.Pos.setMinimumHeight(30)
self.Pos.setMaximumHeight(30)
self.Pos.setMinimumWidth(30)
self.Pos.setMaximumWidth(30)
self.PosLayout=QHBoxLayout()
self.PosLayout.addWidget(self.Pos)
self.Pos.setObjectName('%s'%self.id)
#○self.Pos.setStyleSheet("background-color: rgb(85, 170, 255)")
Labelref=QLabel('Pos :')
Labelref.setMaximumWidth(30)
Labelref.setStyleSheet("font: 9pt" )
self.ABSref=QDoubleSpinBox()
self.ABSref.setMaximum(500000000)
self.ABSref.setMinimum(-500000000)
self.ABSref.setValue(123456)
self.ABSref.setMaximumWidth(80)
self.ABSref.setObjectName('%s'%self.id)
self.ABSref.setStyleSheet("font: 9pt" )
grid_layoutPos = QGridLayout()
grid_layoutPos.setVerticalSpacing(5)
grid_layoutPos.setHorizontalSpacing(10)
grid_layoutPos.setAlignment(QtCore.Qt.AlignmentFlag.AlignHCenter | QtCore.Qt.AlignmentFlag.AlignVCenter)
grid_layoutPos.addLayout(self.takeLayout,0,0)
grid_layoutPos.addLayout(self.PosLayout,0,1)
grid_layoutPos.addWidget(Labelref,1,0)
grid_layoutPos.addWidget(self.ABSref,1,1)
self.vboxPos.addLayout(grid_layoutPos)
self.wid.setStyleSheet("background-color: rgb(60, 77, 87);border-radius:10px")
self.wid.setLayout(self.vboxPos)
mainVert=QVBoxLayout()
mainVert.addWidget(self.wid)
mainVert.setContentsMargins(0,0,0,0)
self.setLayout(mainVert)
class PositionThread(QtCore.QThread):
'''
Second thread to display the position
'''
import time
POS=QtCore.pyqtSignal(object) # signal of the second thread to main thread to display motors position
ETAT=QtCore.pyqtSignal(str)
def __init__(self,parent=None,mot='',):
super(PositionThread,self).__init__(parent)
self.MOT=mot
self.parent=parent
self.stop=False
def run(self):
while True:
if self.stop==True:
break
else:
Posi=(self.MOT.position())
time.sleep(0.1)
try :
etat = self.MOT.etatMotor()
time.sleep(0.1)
self.POS.emit([Posi,etat])
time.sleep(0.1)
# if etat=="mvt":
# print(etat)
except:
print('error emit')
def ThreadINIT(self):
self.stop=False
def stopThread(self):
self.stop=True
time.sleep(0.1)
#self.terminate()
if __name__ == '__main__':
appli = QApplication(sys.argv)
mot5 = ONEMOTORGUI(IpAdress="10.0.6.30", NoMotor=1, showRef=False, unit=1,jogValue=100)
mot5.show()
mot5.startThread2()
appli.exec_()